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==Component Source Code==
==Component Source Code==


Please click here for the component source code: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_FormulaFlowcode.fcfx FC_Comp_Source_FormulaFlowcode.fcfx]
Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_FormulaFlowcode.fcfx FC_Comp_Source_FormulaFlowcode.fcfx]


==Detailed description==
==Detailed description==




Line 30: Line 32:


==Examples==
==Examples==




Line 57: Line 61:


==Macro reference==
==Macro reference==
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
|-
| colspan="2" | Outputs a single tone from the onboard speaker for the period specified 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Note
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Delay_ms
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
|-
| colspan="2" | Switches on a single LED on the front of the Formula Flowcode. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stop'''
|-
| colspan="2" | Stops both motors 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
|-
| colspan="2" | Switches off a single LED on the front of the Formula Flowcode. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
|-
| colspan="2" | Reads the current audio signal level from the on-board microphone. 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
|-
| colspan="2" | Reads the value of one of the switches from the front of the Formula Flowcode. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinLeft'''
|-
| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Power
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forward'''
|-
| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Power
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLineSensor'''
|-
| colspan="2" | Returns the digital value from the line sensor specified. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Sensor
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinRight'''
|-
| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Power
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckIR'''
|-
| colspan="2" | Checks to see if a IR sensor is within the master threshold distance. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Sensor
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIRSensor'''
|-
| colspan="2" | Reads the analogue value from the specified IR distance sensor. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Sensor
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
|-
| colspan="2" | Sets the speed and direction of the Formula Flowcode motors. 
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Left_Power
|-
| colspan="2" | Valid Range = -255 to 255 
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Right_Power
|-
| colspan="2" | Valid Range = -255 to 255 
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
|-
| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Power
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WaitForSwitch'''
|-
| colspan="2" | Waits for the specified switch to be pressed. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLDR'''
|-
| colspan="2" | Reads the current audio signal level from the on-board light sensor. 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WriteLEDs'''
|-
| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Flowcode. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED_Byte
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
|-
| colspan="2" | Starts up the formula flowcode PWM for motor control and performs the wait for button press 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
==Property reference==
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Wait For Button
|-
| colspan="2" | Determines if the program will automatically wait for one of the front switches to be pressed before executing the program.  
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | IR Sensitivity
|-
| colspan="2" | InfraRed read mode - 8-bit or 10-bit 
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Motor Balance (-100 - 100)
|-
| colspan="2" | Motor balance, way of modifying the relative speeds of the motors to allow mismatched motors to work together better. 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | IR Thresholds (CheckIR macro)
|-
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Left
|-
| colspan="2" | IR Threshold used with the CheckIR macro 
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Front
|-
| colspan="2" | IR Threshold used with the CheckIR macro 
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Right
|-
| colspan="2" | IR Threshold used with the CheckIR macro 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation Parameters
|-
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Sim Speed (1 - 100)
|-
| colspan="2" | Sets the simulated amount of movement relative to the speed of the formula flowcode 
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Smooth Animation
|-
| colspan="2" | Selects if the simulation has additional smoothing going on in between iterations 
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Manual Redraw
|-
| colspan="2" | Sets if the animation forces it's own redraws or waits for the system to perform a redraw 
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Timer Interval (ms)
|-
| colspan="2" | Interval in ms between each iteration of the formula flowcode simulated movement 
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | IR Sensor Iterations
|-
| colspan="2" | Number of times to repeat the IR sensor tests and therefore how far the simulated IR sensors can sense.  
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | IR Sensor Resolution
|-
| colspan="2" | The amount of distance to travel for each iteration of the IR sensor 
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Collision Method
|-
| colspan="2" | Sets whether the sensors on the formula flowcode interact with everything on the panel or just a specific group. 
|}==Macro reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"

Revision as of 15:14, 20 January 2023

Author Matrix Ltd
Version 2.0
Category Robotics


Formula Flowcode component

A component to allow all the features of the Formula Flowcode robot to be investigated. Fully simulated component which can interact with simulated objects on the panel as well as control the real hardware.

Component Source Code

Please click here to view the component source code (Beta): FC_Comp_Source_FormulaFlowcode.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Importing from v5

The Formula Flowcode component in Flowcode v6 has a new Initialise macro which will need to be added to your program before any other calls to the component are made.


Line Following

Line following example using the Formula Flowcode, works with objects on the simulation panel and on the real hardware. FF-Line


Maze Solving

Wall following example using the Formula Flowcode, works with a randomly generated maze on the simulation panel and on the real hardware. FF-Maze

Macro reference

PlayNote
Outputs a single tone from the onboard speaker for the period specified 
- BYTE Note
 
- UINT Delay_ms
 
- VOID Return


LEDOn
Switches on a single LED on the front of the Formula Flowcode. 
- BYTE LED
 
- VOID Return


Stop
Stops both motors 
- VOID Return


LEDOff
Switches off a single LED on the front of the Formula Flowcode. 
- BYTE LED
 
- VOID Return


ReadMic
Reads the current audio signal level from the on-board microphone. 
- INT Return


ReadSwitch
Reads the value of one of the switches from the front of the Formula Flowcode. 
- BYTE Switch
 
- BYTE Return


SpinLeft
Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. 
- BYTE Power
 
- VOID Return


Forward
Drives both motors of the formula flowcode forwards with the power specified. 
- BYTE Power
 
- VOID Return


ReadLineSensor
Returns the digital value from the line sensor specified. 
- BYTE Sensor
 
- BYTE Return


SpinRight
Spins the formula flowcode on the spot in a clockwise direction as seen from above. 
- BYTE Power
 
- VOID Return


CheckIR
Checks to see if a IR sensor is within the master threshold distance. 
- BYTE Sensor
 
- BYTE Return


ReadIRSensor
Reads the analogue value from the specified IR distance sensor. 
- BYTE Sensor
 
- UINT Return


SetMotors
Sets the speed and direction of the Formula Flowcode motors. 
- INT Left_Power
Valid Range = -255 to 255 
- INT Right_Power
Valid Range = -255 to 255 
- VOID Return


Reverse
Drives both motors of the formula flowcode backwards with the power specified. 
- BYTE Power
 
- VOID Return


WaitForSwitch
Waits for the specified switch to be pressed. 
- BYTE Switch
 
- VOID Return


ReadLDR
Reads the current audio signal level from the on-board light sensor. 
- INT Return


WriteLEDs
Allows control of all 8-LEDs on the front of the Formula Flowcode. 
- BYTE LED_Byte
 
- VOID Return


Initialise
Starts up the formula flowcode PWM for motor control and performs the wait for button press 
- VOID Return



Property reference

Properties
Wait For Button
Determines if the program will automatically wait for one of the front switches to be pressed before executing the program.  
IR Sensitivity
InfraRed read mode - 8-bit or 10-bit 
Motor Balance (-100 - 100)
Motor balance, way of modifying the relative speeds of the motors to allow mismatched motors to work together better. 
IR Thresholds (CheckIR macro)
Left
IR Threshold used with the CheckIR macro 
Front
IR Threshold used with the CheckIR macro 
Right
IR Threshold used with the CheckIR macro 
Simulation Parameters
Sim Speed (1 - 100)
Sets the simulated amount of movement relative to the speed of the formula flowcode 
Smooth Animation
Selects if the simulation has additional smoothing going on in between iterations 
Manual Redraw
Sets if the animation forces it's own redraws or waits for the system to perform a redraw 
Timer Interval (ms)
Interval in ms between each iteration of the formula flowcode simulated movement 
IR Sensor Iterations
Number of times to repeat the IR sensor tests and therefore how far the simulated IR sensors can sense.  
IR Sensor Resolution
The amount of distance to travel for each iteration of the IR sensor 
Collision Method
Sets whether the sensors on the formula flowcode interact with everything on the panel or just a specific group. 

==Macro reference==

PlayNote
Outputs a single tone from the onboard speaker for the period specified 
- BYTE Note
 
- UINT Delay_ms
 
- VOID Return


LEDOn
Switches on a single LED on the front of the Formula Flowcode. 
- BYTE LED
 
- VOID Return


Stop
Stops both motors 
- VOID Return


LEDOff
Switches off a single LED on the front of the Formula Flowcode. 
- BYTE LED
 
- VOID Return


ReadMic
Reads the current audio signal level from the on-board microphone. 
- INT Return


ReadSwitch
Reads the value of one of the switches from the front of the Formula Flowcode. 
- BYTE Switch
 
- BYTE Return


SpinLeft
Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. 
- BYTE Power
 
- VOID Return


Forward
Drives both motors of the formula flowcode forwards with the power specified. 
- BYTE Power
 
- VOID Return


ReadLineSensor
Returns the digital value from the line sensor specified. 
- BYTE Sensor
 
- BYTE Return


SpinRight
Spins the formula flowcode on the spot in a clockwise direction as seen from above. 
- BYTE Power
 
- VOID Return


CheckIR
Checks to see if a IR sensor is within the master threshold distance. 
- BYTE Sensor
 
- BYTE Return


ReadIRSensor
Reads the analogue value from the specified IR distance sensor. 
- BYTE Sensor
 
- UINT Return


SetMotors
Sets the speed and direction of the Formula Flowcode motors. 
- INT Left_Power
Valid Range = -255 to 255 
- INT Right_Power
Valid Range = -255 to 255 
- VOID Return


Reverse
Drives both motors of the formula flowcode backwards with the power specified. 
- BYTE Power
 
- VOID Return


WaitForSwitch
Waits for the specified switch to be pressed. 
- BYTE Switch
 
- VOID Return


ReadLDR
Reads the current audio signal level from the on-board light sensor. 
- INT Return


WriteLEDs
Allows control of all 8-LEDs on the front of the Formula Flowcode. 
- BYTE LED_Byte
 
- VOID Return


Initialise
Starts up the formula flowcode PWM for motor control and performs the wait for button press 
- VOID Return



Property reference

Properties
Wait For Button
Determines if the program will automatically wait for one of the front switches to be pressed before executing the program.  
IR Sensitivity
InfraRed read mode - 8-bit or 10-bit 
Motor Balance (-100 - 100)
Motor balance, way of modifying the relative speeds of the motors to allow mismatched motors to work together better. 
IR Thresholds (CheckIR macro)
Left
IR Threshold used with the CheckIR macro 
Front
IR Threshold used with the CheckIR macro 
Right
IR Threshold used with the CheckIR macro 
Simulation Parameters
Sim Speed (1 - 100)
Sets the simulated amount of movement relative to the speed of the formula flowcode 
Smooth Animation
Selects if the simulation has additional smoothing going on in between iterations 
Manual Redraw
Sets if the animation forces it's own redraws or waits for the system to perform a redraw 
Timer Interval (ms)
Interval in ms between each iteration of the formula flowcode simulated movement 
IR Sensor Iterations
Number of times to repeat the IR sensor tests and therefore how far the simulated IR sensors can sense.  
IR Sensor Resolution
The amount of distance to travel for each iteration of the IR sensor 
Collision Method
Sets whether the sensors on the formula flowcode interact with everything on the panel or just a specific group. 
Retrieved from "https://www.flowcode.co.uk/wiki/index.php?title=Component:_Formula_Flowcode_(Robotics)&oldid=32571"